<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::SUSANKeypoint&lt; PointInT, PointOutT, NormalT, IntensityT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_s_u_s_a_n_keypoint.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_s_u_s_a_n_keypoint-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::SUSANKeypoint&lt; PointInT, PointOutT, NormalT, IntensityT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html" title="SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation...">SUSANKeypoint</a> implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation. It is different from Harris in that it exploits normals directly so it is faster. <br  />
 Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith, Stephen M. and Brady, J. Michael  
 <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="susan_8h_source.html">susan.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::SUSANKeypoint&lt; PointInT, PointOutT, NormalT, IntensityT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_s_u_s_a_n_keypoint.png" usemap="#pcl::SUSANKeypoint_3C_20PointInT_2C_20PointOutT_2C_20NormalT_2C_20IntensityT_20_3E_map" alt=""/>
  <map id="pcl::SUSANKeypoint_3C_20PointInT_2C_20PointOutT_2C_20NormalT_2C_20IntensityT_20_3E_map" name="pcl::SUSANKeypoint_3C_20PointInT_2C_20PointOutT_2C_20NormalT_2C_20IntensityT_20_3E_map">
<area href="classpcl_1_1_keypoint.html" title="Keypoint represents the base class for key points." alt="pcl::Keypoint&lt; PointInT, PointOutT &gt;" shape="rect" coords="0,56,377,80"/>
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointInT &gt;" shape="rect" coords="0,0,377,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:ab4a7458e8a3c0440c69ec1bc877b8053"><td class="memItemLeft" align="right" valign="top"><a id="ab4a7458e8a3c0440c69ec1bc877b8053"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:ab4a7458e8a3c0440c69ec1bc877b8053"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08d7e16e5d90289e259dafa171688a4d"><td class="memItemLeft" align="right" valign="top"><a id="a08d7e16e5d90289e259dafa171688a4d"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, <a class="el" href="structpcl_1_1_intensity.html">Intensity</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a08d7e16e5d90289e259dafa171688a4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af78efbbe17e8bbc1ba6f711485ef8831"><td class="memItemLeft" align="right" valign="top"><a id="af78efbbe17e8bbc1ba6f711485ef8831"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:af78efbbe17e8bbc1ba6f711485ef8831"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a886eb03b43e8912cfa51209043127a07"><td class="memItemLeft" align="right" valign="top"><a id="a886eb03b43e8912cfa51209043127a07"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
<tr class="separator:a886eb03b43e8912cfa51209043127a07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c43844384db687b2198185212a1d15d"><td class="memItemLeft" align="right" valign="top"><a id="a6c43844384db687b2198185212a1d15d"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1search_1_1_search.html">KdTree</a>&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a6c43844384db687b2198185212a1d15d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2be45fa39b4f227d3f12ec43479043f"><td class="memItemLeft" align="right" valign="top"><a id="ae2be45fa39b4f227d3f12ec43479043f"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:ae2be45fa39b4f227d3f12ec43479043f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a161d350aad9d1ba427224e7301cfba4a"><td class="memItemLeft" align="right" valign="top"><a id="a161d350aad9d1ba427224e7301cfba4a"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
<tr class="separator:a161d350aad9d1ba427224e7301cfba4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1977238426df14e15cf4ba08d42f8c45"><td class="memItemLeft" align="right" valign="top"><a id="a1977238426df14e15cf4ba08d42f8c45"></a>
typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
<tr class="separator:a1977238426df14e15cf4ba08d42f8c45"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4e5196536f4c4baa53f5a9e8d0c30a7"><td class="memItemLeft" align="right" valign="top"><a id="ad4e5196536f4c4baa53f5a9e8d0c30a7"></a>
typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
<tr class="separator:ad4e5196536f4c4baa53f5a9e8d0c30a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ad0fa140c6038e3708a7ef652e5c74caa"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6d8033d4e3165919da69c0dfeecb8ae inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab6d8033d4e3165919da69c0dfeecb8ae"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:ab6d8033d4e3165919da69c0dfeecb8ae inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9eef8be22b648faf7529a03808165cc9 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9eef8be22b648faf7529a03808165cc9"></a>
typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
<tr class="separator:a9eef8be22b648faf7529a03808165cc9 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54c9e8e5960a91c46a9a1fff3eb7ed1f inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a54c9e8e5960a91c46a9a1fff3eb7ed1f"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a54c9e8e5960a91c46a9a1fff3eb7ed1f inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7da3079345edc3d3684157309a1e47dd inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a7da3079345edc3d3684157309a1e47dd"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
<tr class="separator:a7da3079345edc3d3684157309a1e47dd inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac291ff32e78639931cab1113e69a456b inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ac291ff32e78639931cab1113e69a456b"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:ac291ff32e78639931cab1113e69a456b inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e0ec17665234d8f2c30a143222a8eee inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2e0ec17665234d8f2c30a143222a8eee"></a>
typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
<tr class="separator:a2e0ec17665234d8f2c30a143222a8eee inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a833ca03470dd4383a397e24214ea0709 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a833ca03470dd4383a397e24214ea0709"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:a833ca03470dd4383a397e24214ea0709 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a010e393d307e423828232fdd48781240 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a010e393d307e423828232fdd48781240"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointOutT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
<tr class="separator:a010e393d307e423828232fdd48781240 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25a67ec1b8bee8532d9e0947164d44ba inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a25a67ec1b8bee8532d9e0947164d44ba"></a>
typedef boost::function&lt; int(int, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
<tr class="separator:a25a67ec1b8bee8532d9e0947164d44ba inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ac58660587c72beaf0068c4f4656484e6"></a>
typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, int index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
<tr class="separator:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:afecd0079c746adf2b6d1189b4dbd1d3d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#afecd0079c746adf2b6d1189b4dbd1d3d">SUSANKeypoint</a> (float radius=0.01f, float distance_threshold=0.001f, float angular_threshold=0.0001f, float intensity_threshold=7.0f)</td></tr>
<tr class="memdesc:afecd0079c746adf2b6d1189b4dbd1d3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#afecd0079c746adf2b6d1189b4dbd1d3d">更多...</a><br /></td></tr>
<tr class="separator:afecd0079c746adf2b6d1189b4dbd1d3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a643dbb9ce69f65d8f818e7a1b2d2ce01"><td class="memItemLeft" align="right" valign="top"><a id="a643dbb9ce69f65d8f818e7a1b2d2ce01"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a643dbb9ce69f65d8f818e7a1b2d2ce01">~SUSANKeypoint</a> ()</td></tr>
<tr class="memdesc:a643dbb9ce69f65d8f818e7a1b2d2ce01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a643dbb9ce69f65d8f818e7a1b2d2ce01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46113c414b9876ad17ce12285acfd98e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">setRadius</a> (float radius)</td></tr>
<tr class="memdesc:a46113c414b9876ad17ce12285acfd98e"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the radius for normal estimation and non maxima supression.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46113c414b9876ad17ce12285acfd98e">更多...</a><br /></td></tr>
<tr class="separator:a46113c414b9876ad17ce12285acfd98e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f2e035d390660009df6ab826472edfa"><td class="memItemLeft" align="right" valign="top"><a id="a7f2e035d390660009df6ab826472edfa"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setDistanceThreshold</b> (float distance_threshold)</td></tr>
<tr class="separator:a7f2e035d390660009df6ab826472edfa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af1498d1f71ae40d0e7c0a0059c1d9f02"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af1498d1f71ae40d0e7c0a0059c1d9f02">setAngularThreshold</a> (float angular_threshold)</td></tr>
<tr class="memdesc:af1498d1f71ae40d0e7c0a0059c1d9f02"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the angular_threshold value for detecting corners. Normals are considered as parallel if 1 - angular_threshold &lt;= (Ni.Nj) &lt;= 1  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#af1498d1f71ae40d0e7c0a0059c1d9f02">更多...</a><br /></td></tr>
<tr class="separator:af1498d1f71ae40d0e7c0a0059c1d9f02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27b0542ff9404c8eb472ed370e3f791f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a27b0542ff9404c8eb472ed370e3f791f">setIntensityThreshold</a> (float intensity_threshold)</td></tr>
<tr class="memdesc:a27b0542ff9404c8eb472ed370e3f791f"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the intensity_threshold value for detecting corners.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a27b0542ff9404c8eb472ed370e3f791f">更多...</a><br /></td></tr>
<tr class="separator:a27b0542ff9404c8eb472ed370e3f791f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af267b2591d5c90eaa383dfc4e4bdd3fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">setNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:af267b2591d5c90eaa383dfc4e4bdd3fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">set normals if precalculated normals are available.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#af267b2591d5c90eaa383dfc4e4bdd3fb">更多...</a><br /></td></tr>
<tr class="separator:af267b2591d5c90eaa383dfc4e4bdd3fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46b6db38a18fea5d29bb9ae50cee12be"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46b6db38a18fea5d29bb9ae50cee12be">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a46b6db38a18fea5d29bb9ae50cee12be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that we need to estimate features at every point for.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a46b6db38a18fea5d29bb9ae50cee12be">更多...</a><br /></td></tr>
<tr class="separator:a46b6db38a18fea5d29bb9ae50cee12be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5319f6a2ea12d495fb90b8ad534260f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ad5319f6a2ea12d495fb90b8ad534260f">setNumberOfThreads</a> (unsigned int nr_threads)</td></tr>
<tr class="memdesc:ad5319f6a2ea12d495fb90b8ad534260f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the scheduler and set the number of threads to use.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#ad5319f6a2ea12d495fb90b8ad534260f">更多...</a><br /></td></tr>
<tr class="separator:ad5319f6a2ea12d495fb90b8ad534260f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59c1126fb24e12e248d688810fd7e218"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">setNonMaxSupression</a> (bool nonmax)</td></tr>
<tr class="memdesc:a59c1126fb24e12e248d688810fd7e218"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply non maxima suppression to the responses to keep strongest corners.  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a59c1126fb24e12e248d688810fd7e218">更多...</a><br /></td></tr>
<tr class="separator:a59c1126fb24e12e248d688810fd7e218"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29a5fbb90ce58d5fedde0c26bf40899b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a29a5fbb90ce58d5fedde0c26bf40899b">setGeometricValidation</a> (bool validate)</td></tr>
<tr class="memdesc:a29a5fbb90ce58d5fedde0c26bf40899b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filetr false positive using geometric criteria. The nucleus and the centroid should at least distance_threshold_ from each other AND all the points belonging to the USAN must be within the segment [nucleus centroid].  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a29a5fbb90ce58d5fedde0c26bf40899b">更多...</a><br /></td></tr>
<tr class="separator:a29a5fbb90ce58d5fedde0c26bf40899b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab968a8e4e03374f001f2ad32f71c19f6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>harrisCorner</b> (ImageType &amp;output, ImageType &amp;input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)</td></tr>
<tr class="separator:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2093e733ffdbeec61011da572f7c1621"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float sigma, bool SCALE)</td></tr>
<tr class="separator:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a7e50c05b60ac259df5c21e7710f93409"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float start_scale, const float scaling_factor, const int num_scales)</td></tr>
<tr class="separator:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a99462738157103f91e8bfe7075202f7f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>imageElementMultiply</b> (ImageType &amp;output, ImageType &amp;input1, ImageType &amp;input2)</td></tr>
<tr class="separator:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a06d5bf39feac19b1d5dfa0a3e87caea9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">Keypoint</a> ()</td></tr>
<tr class="memdesc:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abc3023e139444291b4d155553369b0bd"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">~Keypoint</a> ()</td></tr>
<tr class="memdesc:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa7b3aa0078d09857ed7afbee6b00e07b"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">getSearchSurface</a> ()</td></tr>
<tr class="memdesc:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
<tr class="separator:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">更多...</a><br /></td></tr>
<tr class="separator:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9c5fa8a8d95367a21111efe0b197a3c9"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
<tr class="separator:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="addd331bafa986670ef416554728bd6a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">getSearchParameter</a> ()</td></tr>
<tr class="memdesc:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
<tr class="separator:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">更多...</a><br /></td></tr>
<tr class="separator:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9a337c89ee7ce0816b8a677b5d538592"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">getKSearch</a> ()</td></tr>
<tr class="memdesc:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
<tr class="separator:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection  <a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">更多...</a><br /></td></tr>
<tr class="separator:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9b6fb2953dc9be88c74d95c8446937bb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">getRadiusSearch</a> ()</td></tr>
<tr class="memdesc:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
<tr class="separator:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">pcl::PointIndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">getKeypointsIndices</a> ()</td></tr>
<tr class="separator:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">更多...</a><br /></td></tr>
<tr class="separator:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">更多...</a><br /></td></tr>
<tr class="separator:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:add26612289bdc4aa778aa73485da579d"><td class="memItemLeft" align="right" valign="top"><a id="add26612289bdc4aa778aa73485da579d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initCompute</b> ()</td></tr>
<tr class="separator:add26612289bdc4aa778aa73485da579d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9a5feda68db24b5a369c83ee5180a82"><td class="memItemLeft" align="right" valign="top"><a id="ac9a5feda68db24b5a369c83ee5180a82"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#ac9a5feda68db24b5a369c83ee5180a82">detectKeypoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ac9a5feda68db24b5a369c83ee5180a82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract key point detection method. <br /></td></tr>
<tr class="separator:ac9a5feda68db24b5a369c83ee5180a82"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e506876598d89cdc16a36810a2790a7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a2e506876598d89cdc16a36810a2790a7">isWithinNucleusCentroid</a> (const Eigen::Vector3f &amp;nucleus, const Eigen::Vector3f &amp;centroid, const Eigen::Vector3f &amp;nc, const PointInT &amp;point) const</td></tr>
<tr class="memdesc:a2e506876598d89cdc16a36810a2790a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">return true if a point lies within the line between the nucleus and the centroid  <a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a2e506876598d89cdc16a36810a2790a7">更多...</a><br /></td></tr>
<tr class="separator:a2e506876598d89cdc16a36810a2790a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="af2dd9244731bfd903ce4aa73efb996eb"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">getClassName</a> () const</td></tr>
<tr class="memdesc:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:adbed268720ff2abe7ddaee5fadef13b4"><td class="memItemLeft" align="right" valign="top"><a id="adbed268720ff2abe7ddaee5fadef13b4"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>distance_threshold_</b></td></tr>
<tr class="separator:adbed268720ff2abe7ddaee5fadef13b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31858804762ce2acef01a692b6bc8294"><td class="memItemLeft" align="right" valign="top"><a id="a31858804762ce2acef01a692b6bc8294"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>angular_threshold_</b></td></tr>
<tr class="separator:a31858804762ce2acef01a692b6bc8294"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b2b48eee60f43c62caca7a519aa675f"><td class="memItemLeft" align="right" valign="top"><a id="a7b2b48eee60f43c62caca7a519aa675f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>intensity_threshold_</b></td></tr>
<tr class="separator:a7b2b48eee60f43c62caca7a519aa675f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7e4aac48a90167174c13ac4e12c1f78"><td class="memItemLeft" align="right" valign="top"><a id="aa7e4aac48a90167174c13ac4e12c1f78"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>tolerance_</b></td></tr>
<tr class="separator:aa7e4aac48a90167174c13ac4e12c1f78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b9e06d56b7295d0cead54b04be03bcd"><td class="memItemLeft" align="right" valign="top"><a id="a4b9e06d56b7295d0cead54b04be03bcd"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>normals_</b></td></tr>
<tr class="separator:a4b9e06d56b7295d0cead54b04be03bcd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9672dffcba6f4ee8a5ccde292b4562b"><td class="memItemLeft" align="right" valign="top"><a id="af9672dffcba6f4ee8a5ccde292b4562b"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>threads_</b></td></tr>
<tr class="separator:af9672dffcba6f4ee8a5ccde292b4562b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ca709392eeeac1ea0de32c83eca80aa"><td class="memItemLeft" align="right" valign="top"><a id="a7ca709392eeeac1ea0de32c83eca80aa"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>geometric_validation_</b></td></tr>
<tr class="separator:a7ca709392eeeac1ea0de32c83eca80aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06cc10916d355f7d783fae20f67a8cc2"><td class="memItemLeft" align="right" valign="top"><a id="a06cc10916d355f7d783fae20f67a8cc2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>nonmax_</b></td></tr>
<tr class="separator:a06cc10916d355f7d783fae20f67a8cc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64ce0fc480c969ee259fab422cfe58d9"><td class="memItemLeft" align="right" valign="top"><a id="a64ce0fc480c969ee259fab422cfe58d9"></a>
IntensityT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a64ce0fc480c969ee259fab422cfe58d9">intensity_</a></td></tr>
<tr class="memdesc:a64ce0fc480c969ee259fab422cfe58d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">intensity field accessor <br /></td></tr>
<tr class="separator:a64ce0fc480c969ee259fab422cfe58d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a756b2aee17a64340085df7f4b792590f"><td class="memItemLeft" align="right" valign="top"><a id="a756b2aee17a64340085df7f4b792590f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a756b2aee17a64340085df7f4b792590f">label_idx_</a></td></tr>
<tr class="memdesc:a756b2aee17a64340085df7f4b792590f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to a value different than -1 if the output cloud has a "label" field and we have to save the keypoints indices. <br /></td></tr>
<tr class="separator:a756b2aee17a64340085df7f4b792590f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c235e77a110faddbeb878ecbcb1e639"><td class="memItemLeft" align="right" valign="top"><a id="a9c235e77a110faddbeb878ecbcb1e639"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a9c235e77a110faddbeb878ecbcb1e639">out_fields_</a></td></tr>
<tr class="memdesc:a9c235e77a110faddbeb878ecbcb1e639"><td class="mdescLeft">&#160;</td><td class="mdescRight">The list of fields present in the output point cloud data. <br /></td></tr>
<tr class="separator:a9c235e77a110faddbeb878ecbcb1e639"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac54ace95c386c7eebf37f095d57834f8"><td class="memItemLeft" align="right" valign="top"><a id="ac54ace95c386c7eebf37f095d57834f8"></a>
<a class="el" href="structpcl_1_1common_1_1_intensity_field_accessor.html">pcl::common::IntensityFieldAccessor</a>&lt; PointOutT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>intensity_out_</b></td></tr>
<tr class="separator:ac54ace95c386c7eebf37f095d57834f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aef5710b81d66e6d429a9dfeb41d606ff"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a></td></tr>
<tr class="memdesc:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The key point detection method's name. <br /></td></tr>
<tr class="separator:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa2ee2830db93620925b82bf6b8ffea63"></a>
SearchMethod&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a></td></tr>
<tr class="memdesc:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for indices. <br /></td></tr>
<tr class="separator:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a642e18edc66cffd15266bf9e7bf20bec"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a></td></tr>
<tr class="memdesc:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a1998c46514f3f8d8d7665f6b505ca389"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a></td></tr>
<tr class="memdesc:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
<tr class="separator:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9bca452f3813c88d994dba18d4a7a1c8"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a></td></tr>
<tr class="memdesc:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a578368dcf8cacc6770aa5f7e7a306def"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a></td></tr>
<tr class="memdesc:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (casted from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
<tr class="separator:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a3bf7980bf7404eb9b5571afbbc2001f5"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a></td></tr>
<tr class="memdesc:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
<tr class="separator:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a93359dca5b099e843c3cf0d0db1c59e1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a></td></tr>
<tr class="memdesc:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
<tr class="separator:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abe8df9e1d66f449bc478cc06f062f209"></a>
pcl::PointIndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a></td></tr>
<tr class="memdesc:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the keypoints in the input cloud. <br /></td></tr>
<tr class="separator:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt;<br />
class pcl::SUSANKeypoint&lt; PointInT, PointOutT, NormalT, IntensityT &gt;</h3>

<p><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html" title="SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation...">SUSANKeypoint</a> implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation. It is different from Harris in that it exploits normals directly so it is faster. <br  />
 Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith, Stephen M. and Brady, J. Michael </p>
<dl class="section author"><dt>作者</dt><dd>Nizar Sallem </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="afecd0079c746adf2b6d1189b4dbd1d3d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afecd0079c746adf2b6d1189b4dbd1d3d">&#9670;&nbsp;</a></span>SUSANKeypoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT  = pcl::Normal, typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::<a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">SUSANKeypoint</a> </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>radius</em> = <code>0.01f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>distance_threshold</em> = <code>0.001f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angular_threshold</em> = <code>0.0001f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>intensity_threshold</em> = <code>7.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td>the radius for normal estimation as well as for non maxima suppression </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">distance_threshold</td><td>to test if the nucleus is far enough from the centroid </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_threshold</td><td>to test if normals are parallel </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">intensity_threshold</td><td>to test if points are of same color </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        : distance_threshold_ (distance_threshold)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , angular_threshold_ (angular_threshold)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        , intensity_threshold_ (intensity_threshold)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        , normals_ (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a>)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        , threads_ (0)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        , <a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a756b2aee17a64340085df7f4b792590f">label_idx_</a> (-1)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        , <a class="code" href="classpcl_1_1_s_u_s_a_n_keypoint.html#a9c235e77a110faddbeb878ecbcb1e639">out_fields_</a> ()</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;SUSANKeypoint&quot;</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = radius;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        geometric_validation_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        tolerance_ = 2 * distance_threshold_;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3bf7980bf7404eb9b5571afbbc2001f5"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">pcl::Keypoint::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; NormalT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a756b2aee17a64340085df7f4b792590f"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a756b2aee17a64340085df7f4b792590f">pcl::SUSANKeypoint::label_idx_</a></div><div class="ttdeci">int label_idx_</div><div class="ttdoc">Set to a value different than -1 if the output cloud has a &quot;label&quot; field and we have to save the keyp...</div><div class="ttdef"><b>Definition:</b> susan.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_s_u_s_a_n_keypoint_html_a9c235e77a110faddbeb878ecbcb1e639"><div class="ttname"><a href="classpcl_1_1_s_u_s_a_n_keypoint.html#a9c235e77a110faddbeb878ecbcb1e639">pcl::SUSANKeypoint::out_fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; out_fields_</div><div class="ttdoc">The list of fields present in the output point cloud data.</div><div class="ttdef"><b>Definition:</b> susan.h:197</div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a2e506876598d89cdc16a36810a2790a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2e506876598d89cdc16a36810a2790a7">&#9670;&nbsp;</a></span>isWithinNucleusCentroid()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::isWithinNucleusCentroid </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>nucleus</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>centroid</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>nc</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const PointInT &amp;&#160;</td>
          <td class="paramname"><em>point</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>return true if a point lies within the line between the nucleus and the centroid </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nucleus</td><td>coordinate of the nucleus </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid</td><td>of the SUSAN </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nc</td><td>to centroid vector (used to speed up since it is constant for a given neighborhood) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">point</td><td>the query point to test against </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if the point lies within [nucleus centroid] </dd></dl>
<div class="fragment"><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;{</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  Eigen::Vector3f pc = centroid - point.getVector3fMap ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  Eigen::Vector3f pn = nucleus - point.getVector3fMap ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  Eigen::Vector3f pc_cross_nc = pc.cross (nc);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">return</span> ((pc_cross_nc.norm () &lt;= tolerance_) &amp;&amp; (pc.dot (nc) &gt;= 0) &amp;&amp; (pn.dot (nc) &lt;= 0));</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="af1498d1f71ae40d0e7c0a0059c1d9f02"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af1498d1f71ae40d0e7c0a0059c1d9f02">&#9670;&nbsp;</a></span>setAngularThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setAngularThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angular_threshold</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>set the angular_threshold value for detecting corners. Normals are considered as parallel if 1 - angular_threshold &lt;= (Ni.Nj) &lt;= 1 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_threshold</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{ </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  angular_threshold_ = angular_threshold; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a29a5fbb90ce58d5fedde0c26bf40899b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a29a5fbb90ce58d5fedde0c26bf40899b">&#9670;&nbsp;</a></span>setGeometricValidation()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setGeometricValidation </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>validate</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Filetr false positive using geometric criteria. The nucleus and the centroid should at least distance_threshold_ from each other AND all the points belonging to the USAN must be within the segment [nucleus centroid]. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">validate</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  geometric_validation_ = validate;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a27b0542ff9404c8eb472ed370e3f791f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a27b0542ff9404c8eb472ed370e3f791f">&#9670;&nbsp;</a></span>setIntensityThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setIntensityThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>intensity_threshold</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>set the intensity_threshold value for detecting corners. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">intensity_threshold</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{ </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  intensity_threshold_ = intensity_threshold; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a59c1126fb24e12e248d688810fd7e218"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a59c1126fb24e12e248d688810fd7e218">&#9670;&nbsp;</a></span>setNonMaxSupression()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setNonMaxSupression </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>nonmax</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Apply non maxima suppression to the responses to keep strongest corners. </p>
<dl class="section note"><dt>注解</dt><dd>in SUSAN points with less response or stronger corners </dd></dl>
<div class="fragment"><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  nonmax_ = nonmax;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="af267b2591d5c90eaa383dfc4e4bdd3fb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af267b2591d5c90eaa383dfc4e4bdd3fb">&#9670;&nbsp;</a></span>setNormals()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setNormals </td>
          <td>(</td>
          <td class="paramtype">const PointCloudNConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>set normals if precalculated normals are available. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">normals</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{ </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  normals_ = normals;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="ad5319f6a2ea12d495fb90b8ad534260f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad5319f6a2ea12d495fb90b8ad534260f">&#9670;&nbsp;</a></span>setNumberOfThreads()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setNumberOfThreads </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>nr_threads</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Initialize the scheduler and set the number of threads to use. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">nr_threads</td><td>the number of hardware threads to use (0 sets the value back to automatic) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  threads_ = nr_threads;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a46113c414b9876ad17ce12285acfd98e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a46113c414b9876ad17ce12285acfd98e">&#9670;&nbsp;</a></span>setRadius()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setRadius </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>radius</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>set the radius for normal estimation and non maxima supression. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">radius</td><td></td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{ </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = radius; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a46b6db38a18fea5d29bb9ae50cee12be"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a46b6db38a18fea5d29bb9ae50cee12be">&#9670;&nbsp;</a></span>setSearchSurface()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT , typename IntensityT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">pcl::SUSANKeypoint</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a>, IntensityT &gt;::setSearchSurface </td>
          <td>(</td>
          <td class="paramtype">const PointCloudInConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Provide a pointer to the input dataset that we need to estimate features at every point for. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{ </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a> = cloud; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  normals_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a>);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a1998c46514f3f8d8d7665f6b505ca389"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">pcl::Keypoint::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:182</div></div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="susan_8h_source.html">susan.h</a></li>
<li>keypoints/include/pcl/keypoints/impl/<a class="el" href="susan_8hpp_source.html">susan.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_s_u_s_a_n_keypoint.html">SUSANKeypoint</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
